相关论文: Annealed Winner-Takes-All for Motion Forecasting

Loss function learning is a new meta-learning paradigm that aims to automate the essential task of designing a loss function for a machine learning model. Existing techniques for loss function learning have shown promising results, often…

Spiking Transformers, which combine the scalability of Transformers with the sparse, energy-efficient property of Spiking Neural Networks (SNNs), have achieved impressive results in neuromorphic and vision tasks and attracted increasing…

In this paper, we propose a new procedure for unconditional and conditional forecasting in agent-based models. The proposed algorithm is based on the application of amortized neural networks and consists of two steps. The first step…

Significant progress has been made in training multimodal trajectory forecasting models for autonomous driving. However, effectively integrating these models with downstream planners and model-based control approaches is still an open…

Multi-task learning (MTL) is frequently used in settings where a target task has to be learnt based on limited training data, but knowledge can be leveraged from related auxiliary tasks. While MTL can improve task performance overall…

Neural policies have shown promise in solving vehicle routing problems due to their reduced reliance on handcrafted heuristics. However, current training paradigms suffer from a fundamental limitation: they primarily focus on next-node…

Learning auxiliary tasks, such as multiple predictions about the world, can provide many benefits to reinforcement learning systems. A variety of off-policy learning algorithms have been developed to learn such predictions, but as yet there…

Forecast of optical turbulence and atmospheric parameters relevant for ground-based astronomy is becoming an important goal for telescope planning and AO instruments optimization in several major telescope. Such detailed and accurate…

Accurate prediction of pedestrians' future motions is critical for intelligent driving systems. Developing models for this task requires rich datasets containing diverse sets of samples. However, the existing naturalistic trajectory…

This paper addresses imitation learning for motion prediction problem in autonomous driving, especially in multi-agent setting. Different from previous methods based on GAN, we present the conditional latent ordinary differential equation…

From CNNs to attention mechanisms, encoding inductive biases into neural networks has been a fruitful source of improvement in machine learning. Adding auxiliary losses to the main objective function is a general way of encoding biases that…

Forecasting vehicular motions in autonomous driving requires a deep understanding of agent interactions and the preservation of motion equivariance under Euclidean geometric transformations. Traditional models often lack the sophistication…

Modern learning systems increasingly rely on amortized learning - the idea of reusing computation or inductive biases shared across tasks to enable rapid generalization to novel problems. This principle spans a range of approaches,…

When the agent's observations or interactions are delayed, classic reinforcement learning tools usually fail. In this paper, we propose a simple yet new and efficient solution to this problem. We assume that, in the undelayed environment,…

Trajectory prediction for flying objects is critical in domains ranging from sports analytics to aerospace. However, traditional methods struggle with complex physical modeling, computational inefficiencies, and high hardware demands, often…

Predicting the motion of a driver's vehicle is crucial for advanced driving systems, enabling detection of potential risks towards shared control between the driver and automation systems. In this paper, we propose a variational neural…

Autonomous driving in dense, dynamic environments requires decision-making systems that can exploit both spatial structure and long-horizon temporal dependencies while remaining robust to uncertainty. This work presents a novel framework…

Many pre-trained models (PTMs) are available in modern applications. Because different PTMs are often trained on different datasets, their performances can vary substantially for different new tasks, and the ranking of the candidates may…

We present a target-driven navigation system to improve mapless visual navigation in indoor scenes. Our method takes a multi-view observation of a robot and a target as inputs at each time step to provide a sequence of actions that move the…

For autonomous vehicles integrating onto roadways with human traffic participants, it requires understanding and adapting to the participants' intention and driving styles by responding in predictable ways without explicit communication.…